Arming Module

[AsiiaPine]

1. The PR implements the Arming module which manages the stats.engaged_time parameter. It checks mode of the node and setup the number of seconds the node was ENGAGED.
2. The node's Mode was extended up to 4 states STANDBY, ENGAGED, INITIALIZATION, MAINTENANCE, mode assign for active components was updated relatively with the ENGAGED mode logic.
3. Upd libparams, add definitions for sitl storage files to Cmake.
4. Upd Dronecan to version with ArmingStatus msg.
5. Fix bug with ADC driver for sitl (5v channel given 0v).

Firmware image size difference

• dronecan_v2: 40796 -> 41164 (+368)
• dronecan_v3: 49916 -> 50340 (+424)
• cyphal_v2: 43480 -> 43652 (+172)
• cyphal_v3: 54708 -> 54908 (+200)

Test coverage

Screencast.from.09-02-2024.04.02.44.PM.webm

• In SITL
• With real device...

[PonomarevDA]

Please, fix the dronecan and cyphal modes. When the node is engaged, it shouldn't be in initialization mode as shown in your video. Since you have extended Module::Mode and it doesn't correspond to cyphal and dronecan modes anymore, you should manually convert from Module::Mode to cyphal and dronecan modes.

[sonarqubecloud]

Quality Gate passed

Issues
2 New issues
0 Accepted issues

Measures
0 Security Hotspots
No data about Coverage
0.0% Duplication on New Code

See analysis details on SonarCloud